WASHINGTON, Dec. 10 -- The United States on Wednesday called for joint efforts to ease tensions following the death of a Palestinian minister at the hands of Israeli soldiers.

State Department spokeswoman Jennifer Psaki voiced "deep concern" about the death of Ziad Abu Ein, the Palestinian minister of settlement who died early Wednesday after being assaulted by Israeli soldiers who were dispersing an anti-settlement rally in the village of Termos Meya near Ramallah in the West Bank.

"We offer our condolences to his family and the Palestinian Authority," Psaki told reporters at a daily news briefing. "And at this difficult time we continue to call on both sides to work to lower tensions and prevent an escalation of violence."

She also urged Israel to open a "swift, fair and transparent" investigation into the incident.

Tensions have heightened over the past months in Israel and the Palestinian territories and the Israeli army was reportedly bracing for more violence over Ein's death.

Psaki said Secretary of State John Kerry will travel to Rome on Sunday to meet with Israeli Prime Minister Benjamin Netanyahu over a number of issues, including recent developments in Israel, the West Bank, Jerusalem and the region.